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To support the adoption of active disturbance rejection control (ADRC) inindustrial practice, this article aims at improving both understanding andimplementation of ADRC using traditional means, in particular via transferfunctions and a frequency-domain view. Firstly, to enable an immediatecomparability with existing classical control solutions, a realizable transferfunction implementation of continous-time linear ADRC is introduced. Secondly,a frequency-domain analysis of ADRC components, performance, parametersensitivity, and tuning method is performed. Finally, an exact implementationof discrete-time ADRC using transfer functions is introduced for the firsttime, with special emphasis on practical aspects such as computationalefficiency, low parameter footprint, and windup protection.

Transfer Function Analysis and Implementation of Active Disturbance Rejection Control